May 10th, 2012

FANUC RL

About iRVision on R-30iB Controller (Notification)

Specification of iRVision is improved and modified in some points for R-30iB controller.
We FANUC RL plans to provide details in manuals, presentation slides and so on later, but
this paper provides quick summary of the improvements and modifications.

Hardware
Hardware Configuration
o The VISION optional CPU board is not supported on R-30iB. Instead, the high-speed
CPU card option is supported for the MAIN CPU board.
o The new Ethernet iPendant is supported for R-30iB, and iRVision setup is available not
only on PC but also on the new iPendant with touch screen. (Note: Setup of visual
tracking and bin picking are available only on PC for the time being.)
Analog Cameras
o Image resolution of an analog camera (i.e. XC-56) connected to the MAIN CPU board is
increased from 512x480 to 640×480 pixels.
o MUX for the analog cameras can supply power to the Camera Package’s LED light. It
also can control the LED light’s on/off and intensity without the process I/O board.
Digital Cameras
o Communication with color camera and high-resolution camera are completely digitized,
and those cameras are more functional. The brand-new, inexpensive digital CCU
(Camera Connection Unit) is designed for R-30iB. The CCU for R-30iA is no longer
available for R-30iB. Camera heads are common to R-30iA and R-30iB.
o Camera cables are revised for them. The new camera cables can be used not only for
digital cameras but also for analog cameras (i.e. XC-56)

Software
Option Configuration
o Software option lineup for iRVision are restructured to make them easy to order.
o Table-1 below shows the major iRVision options. Order at least one to use iRVision.
o Table-2 below shows the addendum options. Order them if necessary.
o See also the attachment about functions included in each software option.
Easier to Use
o The compensation plane for 2D offset can be specified in vision process. This allows
using the same camera calibration in 2D applications for different 2D planes.
o The compensation plane for 2D tool offset can be specified with respect to a user tool.
This improves accuracy of tool offset, especially in the case of snap-in-motion.
o The color extraction parameters can be setup in vision process side. This allows using
the same camera calibration for various color extraction, and also allows extracting
different colors in a single vision process.
o Robot Ring setup is integrated in the communication setup menu screen.
Vision Data Compatibility
o Vision data created on R-30iA cannot be loaded on R-30iB
Others
o The simple 2D camera calibration is no longer supported.

Table-1 Major Options

Order Number Option Name Description
2D application, Inspection,
A05B-2600-J901 iRVision 2DV
Barcode reading, 3D tri-view
A05B-2600-J902 iRVision 3DL 3D Laser Vision Sensor
Visual Tracking,
A05B-2600-J903 iRVision Visual Tracing
including tracking queue
A05B-2600-J909 iRVision Bin Picking Bin Picking

A05B-2600-J912 iRVision Image to Points Image to Points

Table-2 Addendum Options

Order Number Option Name Description
Vision instructions,
A05B-2600-J917 iRVision Slave
for controllers without iRVision
A05B-2600-J871 Vision UIF Controls UIF Controls to enable vision setup on PC

A05B-2600-J873 Vision Support Tools KAREL programs such as MATRIX

Tracking queue
A05B-2600-J874 Tracking Queue
for controllers without iRVision
Attachment: Functions included in each software options

J901 J902 J903 J909 J912 J917 J873 J874

Tracking Queue
Visual Tracking

Image to Points

Support Tool
Bin Picking

Slave
2DV

3DL
Vision Processes

2D Single View Vision Process •

2D Multi View Vision Process •

Depalletizing Vision Process •

Inspection Vision Process •

Barcode Reader Vision Process •

3D Tri View Vision Process •

3DL Single View Vision Process •

3DL Multi View Vision Process •

3DL Cross Section Vision Process •

3DL Curved Surface Vision Process •

Visual Tracking Vision Process •

Bin-Pick Search Vision Process •

Image to Points Vision Process •

Other Functions

Robot Ring (RIPE) • • • • • • • •

TPP Instructions • • • • • • •

SupportTool, such as MATRIX • • •

Tracking Queue • •

Line Tracking (=J512) • •

Bin Pick Workpiece Manager,

•
Interference Avoidance